import cv2
import numpy as np

def get_depth(self, path=None):
    """
    get the depth map
    Args:
        path:  path to the depth map

    Returns:
        depth: [H,W]
    """
    print(path)
    depth = cv2.imread(path).astype(np.float32)
    depth = depth[:, :, 0] * 256 * 256 + depth[:, :, 1] * 256 + depth[:, :, 2]
    depth /= 16777215.0
    #depth *= 1000
    return depth